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Optimize and refactor combineSparse and combineSparseCount.

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PiperOrigin-RevId: 558126391
Change-Id: Iead14c31136e789560f3c8124b84bd4e383158f4
This commit is contained in:
Kyle Bayes
2023-08-18 06:13:20 -07:00
committed by Copybara-Service
parent b1ecc943bb
commit ba12a1354b
7 changed files with 49 additions and 45 deletions
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src/engine/engine_util_sparse.h
+1 -1
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@@ -52,7 +52,7 @@ MJAPI void mju_compressSparse(mjtNum* mat, int nr, int nc,
int* rownnz, int* rowadr, int* colind);
// combine two sparse vectors: dst = a*dst + b*src, return nnz of result
int mju_combineSparse(mjtNum* dst, const mjtNum* src, int n, mjtNum a, mjtNum b,
int mju_combineSparse(mjtNum* dst, const mjtNum* src, mjtNum a, mjtNum b,
int dst_nnz, int src_nnz, int* dst_ind, const int* src_ind,
mjtNum* buf, int* buf_ind);